For a while now I have been looking for ways to use (computer) vision to get odometry information. This is by no means a new concept. Here are some examples (by no means a comprehensive list):
- NASA used visual odometry _disibledevent=>pdf)
- Optical computer mice employ it and optical mouse sensors have been used in robotics; e.g. Outdoor Downward-facing Optical Flow Odometry with Commodity Sensors (pdf)
- Insects leverage it. E.g., see the references in Robust Models for Optic Flow Coding in Natural Scenes Inspired by Insect Biology (pdf)
System Using Consumer-grade Monocular Vision (pdf). Naturally this got me hooked. To make sure that I fully understand the presented algorithm I reimplemented it in C# and paired it with a fairly comprehensive WinForm based UI. Here is a screen shot of the result:
The source code is available from http://code.google.com/p/drh-visual-odometry/ and is covered by the GPL 3.0 license.
More details can be found in the presentation slides (pdf) that I presented during last Saturday’s meeting at the Robotics Society of Southern California.
To facilitate testing the code without an actual setup I uploaded my test video (61MB!).
最新评论